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<div class="title">base_binary_edge.hpp</div>  </div>
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<a href="base__binary__edge_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">int</span> D, <span class="keyword">typename</span> E, <span class="keyword">typename</span> VertexXiType, <span class="keyword">typename</span> VertexXjType&gt;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;OptimizableGraph::Vertex* BaseBinaryEdge&lt;D, E, VertexXiType, VertexXjType&gt;::createFrom(){</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">new</span> VertexXiType();</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;}</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">int</span> D, <span class="keyword">typename</span> E, <span class="keyword">typename</span> VertexXiType, <span class="keyword">typename</span> VertexXjType&gt;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;OptimizableGraph::Vertex* BaseBinaryEdge&lt;D, E, VertexXiType, VertexXjType&gt;::createTo(){</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">new</span> VertexXjType();</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;}</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">int</span> D, <span class="keyword">typename</span> E, <span class="keyword">typename</span> VertexXiType, <span class="keyword">typename</span> VertexXjType&gt;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keywordtype">void</span> BaseBinaryEdge&lt;D, E, VertexXiType, VertexXjType&gt;::resize(<span class="keywordtype">size_t</span> size)</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;{</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="keywordflow">if</span> (size != 2) {</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;WARNING, attempting to resize binary edge &quot;</span> &lt;&lt; BaseEdge&lt;D, E&gt;::id() &lt;&lt; <span class="stringliteral">&quot; to &quot;</span> &lt;&lt; size &lt;&lt; std::endl;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  }</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  BaseEdge&lt;D, E&gt;::resize(size);</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;}</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">int</span> D, <span class="keyword">typename</span> E, <span class="keyword">typename</span> VertexXiType, <span class="keyword">typename</span> VertexXjType&gt;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keywordtype">bool</span> BaseBinaryEdge&lt;D, E, VertexXiType, VertexXjType&gt;::allVerticesFixed()<span class="keyword"> const</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword"></span>{</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordflow">return</span> (static_cast&lt;const VertexXiType*&gt; (_vertices[0])-&gt;fixed() &amp;&amp;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;          static_cast&lt;const VertexXjType*&gt; (_vertices[1])-&gt;fixed());</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;}</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">int</span> D, <span class="keyword">typename</span> E, <span class="keyword">typename</span> VertexXiType, <span class="keyword">typename</span> VertexXjType&gt;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keywordtype">void</span> BaseBinaryEdge&lt;D, E, VertexXiType, VertexXjType&gt;::constructQuadraticForm()</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;{</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  VertexXiType* from = <span class="keyword">static_cast&lt;</span>VertexXiType*<span class="keyword">&gt;</span>(_vertices[0]);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  VertexXjType* to   = <span class="keyword">static_cast&lt;</span>VertexXjType*<span class="keyword">&gt;</span>(_vertices[1]);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="comment">// get the Jacobian of the nodes in the manifold domain</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">const</span> JacobianXiOplusType&amp; A = jacobianOplusXi();</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keyword">const</span> JacobianXjOplusType&amp; B = jacobianOplusXj();</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordtype">bool</span> fromNotFixed = !(from-&gt;fixed());</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordtype">bool</span> toNotFixed = !(to-&gt;fixed());</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordflow">if</span> (fromNotFixed || toNotFixed) {</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="preprocessor">#ifdef G2O_OPENMP</span></div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    from-&gt;lockQuadraticForm();</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    to-&gt;lockQuadraticForm();</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">const</span> InformationType&amp; omega = _information;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    Matrix&lt;double, D, 1&gt; omega_r = - omega * _error;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordflow">if</span> (this-&gt;robustKernel() == 0) {</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keywordflow">if</span> (fromNotFixed) {</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        Matrix&lt;double, VertexXiType::Dimension, D&gt; AtO = A.transpose() * omega;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        from-&gt;b().noalias() += A.transpose() * omega_r;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        from-&gt;A().noalias() += AtO*A;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keywordflow">if</span> (toNotFixed ) {</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;          <span class="keywordflow">if</span> (_hessianRowMajor) <span class="comment">// we have to write to the block as transposed</span></div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;            _hessianTransposed.noalias() += B.transpose() * AtO.transpose();</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          <span class="keywordflow">else</span></div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;            _hessian.noalias() += AtO * B;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        }</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      } </div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keywordflow">if</span> (toNotFixed) {</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        to-&gt;b().noalias() += B.transpose() * omega_r;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        to-&gt;A().noalias() += B.transpose() * omega * B;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      }</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    } <span class="keywordflow">else</span> { <span class="comment">// robust (weighted) error according to some kernel</span></div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keywordtype">double</span> error = this-&gt;chi2();</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      Eigen::Vector3d rho;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      this-&gt;robustKernel()-&gt;robustify(error, rho);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      InformationType weightedOmega = this-&gt;robustInformation(rho);</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="comment">//std::cout &lt;&lt; PVAR(rho.transpose()) &lt;&lt; std::endl;</span></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="comment">//std::cout &lt;&lt; PVAR(weightedOmega) &lt;&lt; std::endl;</span></div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      omega_r *= rho[1];</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keywordflow">if</span> (fromNotFixed) {</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        from-&gt;b().noalias() += A.transpose() * omega_r;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        from-&gt;A().noalias() += A.transpose() * weightedOmega * A;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keywordflow">if</span> (toNotFixed ) {</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;          <span class="keywordflow">if</span> (_hessianRowMajor) <span class="comment">// we have to write to the block as transposed</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;            _hessianTransposed.noalias() += B.transpose() * weightedOmega * A;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;          <span class="keywordflow">else</span></div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;            _hessian.noalias() += A.transpose() * weightedOmega * B;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        }</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      } </div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keywordflow">if</span> (toNotFixed) {</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        to-&gt;b().noalias() += B.transpose() * omega_r;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        to-&gt;A().noalias() += B.transpose() * weightedOmega * B;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      }</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    }</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="preprocessor">#ifdef G2O_OPENMP</span></div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    to-&gt;unlockQuadraticForm();</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    from-&gt;unlockQuadraticForm();</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  }</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;}</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">int</span> D, <span class="keyword">typename</span> E, <span class="keyword">typename</span> VertexXiType, <span class="keyword">typename</span> VertexXjType&gt;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="keywordtype">void</span> BaseBinaryEdge&lt;D, E, VertexXiType, VertexXjType&gt;::linearizeOplus(JacobianWorkspace&amp; jacobianWorkspace)</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;{</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keyword">new</span> (&amp;_jacobianOplusXi) JacobianXiOplusType(jacobianWorkspace.workspaceForVertex(0), D, Di);</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keyword">new</span> (&amp;_jacobianOplusXj) JacobianXjOplusType(jacobianWorkspace.workspaceForVertex(1), D, Dj);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  linearizeOplus();</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;}</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">int</span> D, <span class="keyword">typename</span> E, <span class="keyword">typename</span> VertexXiType, <span class="keyword">typename</span> VertexXjType&gt;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="keywordtype">void</span> BaseBinaryEdge&lt;D, E, VertexXiType, VertexXjType&gt;::linearizeOplus()</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;{</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  VertexXiType* vi = <span class="keyword">static_cast&lt;</span>VertexXiType*<span class="keyword">&gt;</span>(_vertices[0]);</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  VertexXjType* vj = <span class="keyword">static_cast&lt;</span>VertexXjType*<span class="keyword">&gt;</span>(_vertices[1]);</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keywordtype">bool</span> iNotFixed = !(vi-&gt;fixed());</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="keywordtype">bool</span> jNotFixed = !(vj-&gt;fixed());</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="keywordflow">if</span> (!iNotFixed &amp;&amp; !jNotFixed)</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="preprocessor">#ifdef G2O_OPENMP</span></div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  vi-&gt;lockQuadraticForm();</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  vj-&gt;lockQuadraticForm();</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> delta = 1e-9;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> scalar = 1.0 / (2*delta);</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  ErrorVector errorBak;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  ErrorVector errorBeforeNumeric = _error;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="keywordflow">if</span> (iNotFixed) {</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="comment">//Xi - estimate the jacobian numerically</span></div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordtype">double</span> add_vi[VertexXiType::Dimension];</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    std::fill(add_vi, add_vi + VertexXiType::Dimension, 0.0);</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="comment">// add small step along the unit vector in each dimension</span></div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; VertexXiType::Dimension; ++d) {</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      vi-&gt;push();</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      add_vi[d] = delta;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      vi-&gt;oplus(add_vi);</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      computeError();</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      errorBak = _error;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      vi-&gt;pop();</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      vi-&gt;push();</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      add_vi[d] = -delta;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      vi-&gt;oplus(add_vi);</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      computeError();</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      errorBak -= _error;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      vi-&gt;pop();</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      add_vi[d] = 0.0;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      _jacobianOplusXi.col(d) = scalar * errorBak;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    } <span class="comment">// end dimension</span></div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  }</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="keywordflow">if</span> (jNotFixed) {</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="comment">//Xj - estimate the jacobian numerically</span></div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keywordtype">double</span> add_vj[VertexXjType::Dimension];</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    std::fill(add_vj, add_vj + VertexXjType::Dimension, 0.0);</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="comment">// add small step along the unit vector in each dimension</span></div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; VertexXjType::Dimension; ++d) {</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      vj-&gt;push();</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      add_vj[d] = delta;</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      vj-&gt;oplus(add_vj);</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      computeError();</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      errorBak = _error;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      vj-&gt;pop();</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      vj-&gt;push();</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      add_vj[d] = -delta;</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      vj-&gt;oplus(add_vj);</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      computeError();</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      errorBak -= _error;</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      vj-&gt;pop();</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      add_vj[d] = 0.0;</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      _jacobianOplusXj.col(d) = scalar * errorBak;</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    }</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  } <span class="comment">// end dimension</span></div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  _error = errorBeforeNumeric;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="preprocessor">#ifdef G2O_OPENMP</span></div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  vj-&gt;unlockQuadraticForm();</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  vi-&gt;unlockQuadraticForm();</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;}</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">int</span> D, <span class="keyword">typename</span> E, <span class="keyword">typename</span> VertexXiType, <span class="keyword">typename</span> VertexXjType&gt;</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="keywordtype">void</span> BaseBinaryEdge&lt;D, E, VertexXiType, VertexXjType&gt;::mapHessianMemory(<span class="keywordtype">double</span>* d, <span class="keywordtype">int</span> i, <span class="keywordtype">int</span> j, <span class="keywordtype">bool</span> rowMajor)</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;{</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  (void) i; (void) j;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  <span class="comment">//assert(i == 0 &amp;&amp; j == 1);</span></div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="keywordflow">if</span> (rowMajor) {</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    <span class="keyword">new</span> (&amp;_hessianTransposed) HessianBlockTransposedType(d, VertexXjType::Dimension, VertexXiType::Dimension);</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keyword">new</span> (&amp;_hessian) HessianBlockType(d, VertexXiType::Dimension, VertexXjType::Dimension);</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  }</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  _hessianRowMajor = rowMajor;</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;}</div></div><!-- fragment --></div><!-- contents -->
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